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   <div id="projectname">SimpleRobot
   &#160;<span id="projectnumber">1.0</span>
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   <div id="projectbrief">简易四轴机器人动画</div>
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<li class="navelem"><a class="el" href="dir_ecf8ca46b2885291d59feefec80b5002.html">robot</a></li>  </ul>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="preprocessor">#ifndef ROBOT_H</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="preprocessor">#define ROBOT_H</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> * Robot 模块</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> * MVC结构</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> * 以效率角度未使用多线程锁，异步安全锁，但是从当前表现机械臂的运动基本正确</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment"> * 后期如果出现问题再考虑加锁。</span></div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="preprocessor">#include &lt;QWidget&gt;</span></div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="preprocessor">#include &quot;model.h&quot;</span></div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="preprocessor">#include &quot;view.h&quot;</span></div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="preprocessor">#include &quot;control.h&quot;</span></div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;</div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="keyword">class </span><a class="code" href="class_model.html">Model</a>;</div>
<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="keyword">class </span><a class="code" href="class_view.html">View</a>;</div>
<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="keyword">class </span><a class="code" href="class_control.html">Control</a>;</div>
<div class="line"><a name="l00018"></a><span class="lineno"><a class="line" href="class_robot.html">   18</a></span>&#160;<span class="keyword">class </span><a class="code" href="class_robot.html">Robot</a></div>
<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;{</div>
<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="keyword">public</span>:</div>
<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;    <a class="code" href="class_robot.html#a4fc7c70ae20623f05e06f2ecb388b6c4">Robot</a>();</div>
<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;    <a class="code" href="class_robot.html#a924320124b09c2f2ac1621aa210d5f38">~Robot</a>();</div>
<div class="line"><a name="l00026"></a><span class="lineno"><a class="line" href="class_robot.html#ab193a0de96d68613c7d39c1ef0e990b9">   26</a></span>&#160;    <a class="code" href="class_view.html">View</a> *<a class="code" href="class_robot.html#ab193a0de96d68613c7d39c1ef0e990b9">getView</a>()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> view; }</div>
<div class="line"><a name="l00028"></a><span class="lineno"><a class="line" href="class_robot.html#af3bd8421f9b7f28bfd054b47ba8475aa">   28</a></span>&#160;    <a class="code" href="class_control.html">Control</a> *<a class="code" href="class_robot.html#af3bd8421f9b7f28bfd054b47ba8475aa">getControl</a>()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> control; }</div>
<div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;<span class="keyword">private</span>:</div>
<div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;    <a class="code" href="class_model.html">Model</a> *model;</div>
<div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;    <a class="code" href="class_view.html">View</a> *view;</div>
<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;    <a class="code" href="class_control.html">Control</a> *control;</div>
<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;};</div>
<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;</div>
<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;<span class="preprocessor">#endif // ROBOT_H</span></div>
<div class="ttc" id="class_model_html"><div class="ttname"><a href="class_model.html">Model</a></div><div class="ttdoc">机器人数据模型 </div><div class="ttdef"><b>Definition:</b> model.h:9</div></div>
<div class="ttc" id="class_robot_html"><div class="ttname"><a href="class_robot.html">Robot</a></div><div class="ttdoc">机器人类 </div><div class="ttdef"><b>Definition:</b> robot.h:18</div></div>
<div class="ttc" id="class_robot_html_af3bd8421f9b7f28bfd054b47ba8475aa"><div class="ttname"><a href="class_robot.html#af3bd8421f9b7f28bfd054b47ba8475aa">Robot::getControl</a></div><div class="ttdeci">Control * getControl() const </div><div class="ttdoc">获取控制器 </div><div class="ttdef"><b>Definition:</b> robot.h:28</div></div>
<div class="ttc" id="class_robot_html_a4fc7c70ae20623f05e06f2ecb388b6c4"><div class="ttname"><a href="class_robot.html#a4fc7c70ae20623f05e06f2ecb388b6c4">Robot::Robot</a></div><div class="ttdeci">Robot()</div><div class="ttdoc">A constructor. </div><div class="ttdef"><b>Definition:</b> robot.cpp:6</div></div>
<div class="ttc" id="class_robot_html_a924320124b09c2f2ac1621aa210d5f38"><div class="ttname"><a href="class_robot.html#a924320124b09c2f2ac1621aa210d5f38">Robot::~Robot</a></div><div class="ttdeci">~Robot()</div><div class="ttdoc">A destructor. </div><div class="ttdef"><b>Definition:</b> robot.cpp:16</div></div>
<div class="ttc" id="class_view_html"><div class="ttname"><a href="class_view.html">View</a></div><div class="ttdoc">视图类 </div><div class="ttdef"><b>Definition:</b> view.h:14</div></div>
<div class="ttc" id="class_control_html"><div class="ttname"><a href="class_control.html">Control</a></div><div class="ttdoc">控制类 </div><div class="ttdef"><b>Definition:</b> control.h:10</div></div>
<div class="ttc" id="class_robot_html_ab193a0de96d68613c7d39c1ef0e990b9"><div class="ttname"><a href="class_robot.html#ab193a0de96d68613c7d39c1ef0e990b9">Robot::getView</a></div><div class="ttdeci">View * getView() const </div><div class="ttdoc">获取视图 </div><div class="ttdef"><b>Definition:</b> robot.h:26</div></div>
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